IMU (Pi compatible)

#1 Contender 🥳 : Adafruit LSM6DS33 6-DOF Accel + Gyro IMU

General Requirements/Preferences

Requirements	Preferences
<$100 for a single module / <$10 for a component	Chassis mount over surface mount because surface mount would require its own custom PCB
Accelerometer and Gyroscope	Magnetometer
Compatible with Rasberry Pi	USB (with Pi)/ I2C/ SPI
	For Pi module - Input voltage of 5V Other - Input voltage of 12V or 3V3 (notation for 3.3V)
	Reusable

Key Words

IMU (Inertial Measurement Unit)

This is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes and sometimes magnetometers.

Used to maneuver aircraft, UAVs, spacecraft, satellites etc.

For more detailed reading: https://www.vectornav.com/resources/what-is-an-imu

Rasberry Pi

Tiny computer

Rugged

This could mean protection from harsh environments like moisture, extreme temperatures, mechanical shock and vibration etc

Surface Mount

Anything that sits on top of the PCB at a specific place

Chassis Mount

Has a connector to the module and can sit wherever.

LGA (Land Grid Array)

Type of surface mount packaging for integrated circuits

Common Communication Protocols

I2C or I²C (Inter Integrated Circuit Protocol)
SPI (Serial Peripheral Interface)
CAN (Controller Area Network)
UART (Universal Asynchronous Receiver/Transmitter

Ongoing Research and Questions

~~What’s our budget??~~
Research on Kalman filtering algorithms (appears in most industrial grade IMUs from research so far)
~~Max size of circuit~~
~~Need for “ruggedness”~~
~~Find out what “ruggedness” means~~
How does packaging factor into requirements
~~Surface vs Chassis Mount~~
Necessary grades/standards of IMU

IMU Name	Size	Performance	Communication	Price per unit	Packaging	Physical	Electrical	Datasheet	Additional Links
Sparkfun 9DOF IMU Breakout - ICM-20948 Digikey part no. - SEN-15335		Accelerometer, Gyroscope, Magnetometer	I2C, SPI	$21.52	Module			https://media.digikey.com/pdf/Data Sheets/Sparkfun PDFs/SEN-15335_Web.pdf
Adafruit LSM6DS33 6-DOF Accel + Gyro IMU		Accelerometer, Gyroscope	I2C, SPI	$7.56	Module			https://media.digikey.com/pdf/Data Sheets/Adafruit PDFs/4480_Web.pdf
ADAFRUIT 9-DOF Orientation IMU F		Accelerometer, Gyroscope, Magnetometer	I2C, SPI, UART	$25.33	Module			https://cdn-learn.adafruit.com/downloads/pdf/adafruit-9-dof-orientation-imu-fusion-breakout-bno085.pdf
BMX160 9-AXIS Sensor Module Digikey part no. - 1738-SEN0373-ND		Accelerometer, Gyroscope, Magnetomete	I2C, SPI	$17.65	Module, Chassis Mount	Operating temp range of -40 to 85 C		https://dfimg.dfrobot.com/nobody/wiki/0f2bdd8aacaa02cbd40a61a8ebba9e76.pdf

Rasberry Pi Sense Hat		Accelerometer, Gyroscope, Pressure, Humidity, Temperatire	I2C, SPI	$39.95 https://www.buyapi.ca/product/raspberry-pi-sense-hat-with-orientation-pressure-humidity-and-temperature-sensors/?src=raspberrypi	Hat	Operating temp range of -40 to 85 C	1.9 to 3.6 V from datasheet Consumes around 4 mA (just the IMU on the hat)	https://www.st.com/resource/en/datasheet/lsm9ds1.pdf https://pinout.xyz/pinout/sense_hat	https://www.mathworks.com/help/supportpkg/raspberrypiio/ref/working-with-raspberry-pi-sense-hat.html https://www.raspberrypi.org/documentation/hardware/sense-hat/
OpenIMU300ZI	(24 mm X 37mm)	Accelerometer, Gyro, Magnetometer	SPI and UART, USB i think	$231.34 (free shipping)		Operating temp range of -40 to 85 C	Operating range of 3.0 V to 5.5 V	https://www.aceinna.com/inertial-systems/OpenIMU300ZI	Must use proprietary software to code. (it’s FREE) Can simulate IMU with OpenIMU
VN-100	Rugged- (45 mm X 44 mm) SMD - (24 mm X 22mm)	Accelerometer, Gyro, Compass, Barometer			Surface Mount or Rugged (plug and play)	-40 to 85 C	3.2 to 5.5V or to 14V for rugged		Outputs real time drift free attitude solution
LSM9DS0 (BerryIMU)	(4 X 4 X 1.0 mm)	Accelerometer, Gyroscope, Magnetic field, temperature sensor	I2C and SPI		LGA	Operating temp range of -40 to 85 C	Operating range of 2.4V to 3.6V	https://ozzmaker.com/wp-content/uploads/2014/12/LSM9DS0.pdf	https://ozzmaker.com/berryimu/
LSM9DS1	(3.5 X 3 X 1.0 mm)	Accelerometer, Magnetometer, Gyroscope, Temperature sensor	I2C and SPI		LGA	Operating temp range of -40 to 85 C	Operating range of	https://www.st.com/content/ccc/resource/technical/document/datasheet/1e/3f/2a/d6/25/eb/48/46/DM00103319.pdf/files/DM00103319.pdf/jcr:content/translations/en.DM00103319.pdf

OpenIMU330BI	(15 mm X 11 mm)	Accelerometer, Gyro	SPI and UART	$184.68 (free shipping)	Surface Mount			https://www.aceinna.com/inertial-systems/OpenIMU330B	Same as above

UNIK GY-85
Waveshare 10 DOF
X-Y-G
10 DOF Mems
DIYmall 9 axis
Pololu MiniIMU	0.8" X 0.5"		I2C	15.95			Operate below 3.6 V Minimum of 4 pins
Pololu AltIMU-10
Redshift Labs UM7-LT Orientation Sensor
Redshift Labs UM7 Orientation Sensor

LSM9DS1TR	(3.25 X 3 X 1.0 mm)	Measures acceleration, angular rate, magnetic field, temperature	I2C and SPI	9.45	LGA	Operating temp range of -40 to 85 C	Operating range of 1.9V to 3.6V	https://www.digikey.ca/htmldatasheets/production/1639232/0/0/1/lsm9ds1-datasheet.html
BMI090L	(3 X 4.5 X 0.95 mm)	Gyroscope, accelerometer	I2C and SPI	19.74	LGA		Operating range of 2.4V to 3.6V	https://media.digikey.com/pdf/Data%20Sheets/Bosch/BST-BMI090L-DS000-00.pdf

ICM20948

MTi-6x0					Module				(need more info )
FSM30x Datasheet					LGA i think

Code Examples (interfacing with Rasberry Pi)

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